Ultrasonic actuator

ABSTRACT

The ultrasonic actuator of the present invention includes a rod shaped vibration body having a first group of faces and a second group of faces, an exciter which is provided on at least one face of the first group of faces of the vibration body and which generates traveling waves, and a movable member which is pressed against the vibration body and is moved by the traveling waves. There is formed a first reflecting portion at one end portion of the vibration body, and there is formed a second reflecting portion at the other end portion of the vibration body. A support device which supports the vibration body is joined to at least one of the both end portions at which the first and second reflecting portions are formed.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to an ultrasonic actuator which circulates traveling waves around the surface of a vibration block and which moves a movable member by the action of these traveling waves.

2. Description of the Related Art

In the prior art, as such a type of ultrasonic actuator, there has for example been disclosed a type described in U.S. Pat. No.4,562,374. FIGS. 9 through 11 are figures illustrating an example of a prior art type ultrasonic actuator.

The ultrasonic actuator shown in FIG. 9 is constructed so as to have a vibration block 20 which is rod shaped and is bent around and joined to itself so that both of its surfaces are endless. A piezoelectric element 21 is fixedly contacted to a first portion of the surface of this vibration block 20, and further a plate shaped movable member 22 is kept in pressure contact with another portion of the surface of this vibration block 20. When the piezoelectric element 21 is driven so that vibrations are excited in it, bending vibrations are set up in the vibration block 20, and traveling waves are generated by these transverse vibrations, by which the movable member 22 is driven. Since the vibration block 20 is formed so as to be endless, these traveling waves set up in the vibration block 20 are recirculated in a non-terminating cycle within the vibration block 20.

The ultrasonic actuator shown in FIG. 10A is constructed so as to have two vibration blocks 30 and 31, both of which are rod shaped and the ends of which are connected together by two couplers 32 and 33. A piezoelectric element 34 is fixedly contacted to the surface of the one 30 of these vibration blocks, and further a plate shaped movable member 35 is kept in pressure contact with the surface of the other one 31 of these vibration blocks. When the piezoelectric element 34 is driven so that vibrations are excited in it, bending vibrations are set up in the vibration block 30, and traveling waves are generated by these bending vibrations which are transmitted to the other vibration block 31 via the coupler 32, by which the movable member 35 is driven. The traveling waves transmitted through the vibration block 31 return round to the vibration block 30 via the other coupler 33, and in this manner the traveling waves are recirculated in a non-terminating cycle.

With the ultrasonic actuator shown in FIG. 10B, instead of the couplers 32 and 33, the vibration blocks 30 and 31 are linked together by oscillators 36 and 37.

With the ultrasonic actuator shown in FIG. 11, two vibrators 41 and 42 are linked by couplers 43 and 44 to the vibration block 40 which is formed in a rod shape. When the vibrators 41 and 42 are driven so that vibrations are excited in them, bending vibrations are set up in the vibration block 40 via the couplers 43 and 44, and traveling waves are generated by these bending vibrations which move a movable member not shown in the figures so as to drive it. The traveling waves transmitted through the vibration block 40 are converted into electrical signals by a vibrator which is connected to the vibration block 40 but which is not shown in the figures, and this electrical signal is returned to the vibrators 41 and 43. In this manner the traveling waves are effectively recirculated in a non terminating cycle.

However, with the ones of these prior art types of ultrasonic actuator in which the vibration propagation path of the vibration block is made to be endless in order to return the traveling waves from the portion of the vibration block which drives the movable member to the portion thereof which generates the traveling waves, the problem arises that the overall dimensions of the ultrasonic actuator become great because the vibration propagation path is required to be long. On the other hand, with the ones of these prior art types of ultrasonic actuator in which the traveling waves are recirculated electrically, the problem arises that the cost is increased due to the construction of the ultrasonic actuator becoming more complicated.

SUMMARY OF THE INVENTION

A first objective of the present invention is to provide an ultrasonic actuator which is small in overall dimensions.

A second object of the present invention is to provide an ultrasonic actuator in which loss of vibration caused by supporting a vibration body with a supporting device can be reduced.

In order to attain these object, the present invention proposes an ultrasonic actuator, comprising: a vibration body which is rod shaped and which has a first group of faces which consists of two opposing faces and a second group of faces which consists of two opposing faces which differ from said first group of faces, both said first group of faces and said second group of faces being extended along the longitudinal direction of said vibration body; an exciter which is provided on at least one face of said first group of faces of said vibration body, and generates traveling waves which progress in said longitudinal direction of said vibration body; and a movable member which is pressed against said vibration body and is moved by said traveling waves; wherein, at one end portion of said vibration body, there is formed a first reflecting portion thereof which reflects said traveling waves progressing in said longitudinal direction of said vibration body and transmits them to said second group of faces; at the other end portion of said vibration body, there is formed a second reflecting portion thereof which reflects said traveling waves which were transmitted to said second group of faces and recirculates them to said first group of faces; and, a support device which supports said vibration body is joined to at least one of the both end portions at which said first and second reflecting portions are formed.

Furthermore, the present invention proposes an ultrasonic actuator, comprising: a vibration body which is rod shaped and which has a first group of faces which consists of two opposing faces and a second group of faces which consists of two opposing faces which differ from said first group of faces, both said first group of faces and said second group of faces being extended along the longitudinal direction of said vibration body; an exciter which is provided on at least one face of said first group of faces of said vibration body, and generates traveling waves which progress in said longitudinal direction of said vibration body; and a movable member which is pressed against said vibration body and is moved by said traveling waves; wherein, at one end portion of said vibration body, there is formed a first reflecting portion thereof which consists of two triangular faces and reflects said traveling waves progressing in said longitudinal direction of said vibration body and transmits them to said second group of faces; at the other end portion of said vibration body, there is formed a second reflecting portion thereof which consists of two triangular faces and reflects said traveling waves which were transmitted to said second group of faces and recirculates them to said first group of faces; when the two faces of which said first group of faces consists are called the A face and the C face, the two faces of which said second group of faces consists are called the B face and the D face, the two faces of which said first reflecting portion consists are called the E face and the F face, and the two faces of which said second reflecting portion consists are called the G face and the H face: two of the sides of said E face are an edge between said E face and said A face and an edge between said E face and said B face respectively, two of the sides of said F face are an edge between said F face and said C face and an edge between said F face and said D face respectively, and the remaining side of said E face and the remaining side of said F face coincide; and two of the sides of said G face are an edge between said G face and said B face and an edge between said G face and said C face respectively, two of the sides of said H face are an edge between said H face and said A face and an edge between said H face and said D face respectively, and the remaining side of said G face and the remaining side of said H face coincide; and, a support device which supports said vibration body is joined to at least one of the both end portions at which said first and second reflecting portions are formed.

By the construction of the rod shaped vibration body being such that the traveling waves which progress along the face for vibration excitation of the vibration body are transmitted to a face of the vibration body other than the face for vibration excitation thereof, and are recirculated back to the face for vibration excitation again, thereby it is possible to recirculate the traveling waves within the vibration body itself, without making any particular arrangements for any other elements to be included with the vibration body in any structure for endless recirculation. In this manner, it is possible to reduce the overall dimensions of the ultrasonic actuator. Further, no particular electrical or electronic arrangements are necessary to recirculate the traveling waves, so that the construction is kept simple and the cost is kept down.

And, since the supporting device which supports said vibration body is joined to at least one of the both end portions at which said first and second reflecting portions are formed, loss of vibration which is caused by supporting the vibration body with the supporting device can be reduced.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view showing an ultrasonic actuator which is a first embodiment of the present invention;

FIG. 2 is a plan view showing the ultrasonic actuator which is the first embodiment of the present invention;

FIG. 3A is a frontal view showing a rod shaped vibration block which is incorporated in the first embodiment;

FIG. 3B is a plan view of the rod shaped vibration block of FIG. 3A;

FIG. 3C is an end on view of the rod shaped vibration block of FIGS. 3A and 3B as seen from the left side of FIG. 3A;

FIG. 3D is an end on view of the rod shaped vibration block of FIGS. 3A through 3C as seen from the right side of FIG. 3A;

FIG. 4 is a schematic set of figures for explanation of the manner in which the bending waves traveling through the rod shaped vibration block of FIGS. 1 and 3A through 3D are recirculated in a non terminating cycle within the vibration block;

FIG. 5 is a schematic set of figures for explanation of the manner in which the surface waves traveling along the rod shaped vibration block of FIGS. 1 through 4 are recirculated in a non terminating cycle on the surface portions of the vibration block;

FIG. 6 is a schematic figure showing the surface of the rod shaped vibration block of FIGS. 1 through 5 as unfolded, with the path of a surface wave traveling along said vibration block being shown by an endless dotted line and the path of a transverse wave traveling through said vibration block being shown by an endless solid line;

FIG. 7 is a simplified plan view showing the construction of an exciter of the first embodiment;

FIG. 8 is a sectional view of the ultrasonic actuator of FIG. 1 taken in a plane defined by the lines VIII--VIII' in that figure;

FIG. 9 is an elevation view showing one example of an ultrasonic actuator according to the prior art;

FIGS. 10A and 10B are elevation views showing another example of an ultrasonic actuator according to the prior art;

FIG. 11 is a perspective view showing yet another example of an ultrasonic actuator according to the prior art;

FIG. 12A is a simplified plan view, substantially identical to FIG. 7, and again showing the construction of the exciter of the first embodiment; and:

FIGS. 12B through 12D are waveform diagrams showing the progression of a waveform excited by the exciter.

DESCRIPTION OF THE PREFERRED EMBODIMENTS First Embodiment

FIG. 1 is a perspective view showing the first embodiment of the ultrasonic actuator of the present invention, FIG. 2 is a plan view showing the ultrasonic actuator of the first embodiment, FIGS. 3A through 3D are figures showing a generally rod shaped vibration block, with FIG. 3A being a frontal view thereof, FIG. 3B being a plan view thereof, FIG. 3C being an end on view as seen from the left, and FIG. 3D being an end on view thereof as seen from the right.

Referring to FIGS. 1 through 3D, the reference numeral 1 denotes a vibration block which is generally formed in a rod shape and is of square cross section along its central portion, and is formed from a substance which is capable of elastic vibration such as for example a metallic substance or the like. This vibration block 1 has four faces "A" through "D" which extend along its longitudinal direction. The face A and the face C are formed to mutually oppose one another, and these faces A and C constitute a first group of faces. Similarly, the face B and the face D are formed to mutually oppose one another, and these faces B and D constitute a second group of faces. Now, for convenience in explaining the manner and direction of progression of the traveling waves, in the following explanation one end in the longitudinal direction (the left end in FIG. 1) of the vibration block 1 will be termed the "N" end, while the other end (the right end in FIG. 1) will be termed the "S" end. (The terms "N" and "S" do not refer to magnetic polarity).

"E" and "F" faces in the forms of triangles are formed at the N end of the vibration block 1 as shown in FIG. 3C. In the same manner, "G" and "H" faces in the forms of triangles are formed at the S end of the vibration block 1 as shown in FIG. 3D. All of these faces E through H are formed as congruent isosceles triangles.

In concrete terms, considering the hypothetical cross section I of the vibration block 1 at its N end as shown in FIG. 1, and calling the vertices of this hypothetical cross section "a" through "d", two of the three vertices of the E face coincide with the vertices a and c respectively, and one of the edges of the E face is the diagonal line ac connecting these vertices a and c of this hypothetical cross section. Further, the other vertex of the E face is positioned on the edge connecting the A face and the B face. Accordingly, the triangles Δabe and Δcbe are congruent right angled isosceles triangles, and the triangle Δace (i.e. the face E) is an isosceles triangle. As for the F face, it has the line segment ac and the vertices a and c in common with the E face, and further has a vertex at a point (not shown in the figure) which lies on the edge which contacts the face C and the face D and which is the same distance from the vertex d as the length of the line segment be.

On the other hand, to consider the G face and the H face, they have as their common edge a diagonal line on the hypothetical cross section I' of the vibration block 1 at its S end (which corresponds to the diagonal line bd on the hypothetical cross section I ), and the other vertex h of the G face is positioned on the edge connecting the B face and the C face and is the same distance from the vertex c' as the length of the line segment be, while the other vertex f of the H face is positioned on the edge connecting the A face and the D face and is the same distance from the vertex a' as the length of the line segment be. By this construction, all of the faces E through H are congruent isosceles triangles, and the E face and the F face are respectively perpendicular to the G face and the H face.

The faces E through H constitute reflecting portions which are provided for reflecting the traveling waves which are traveling in the longitudinal direction of the vibration block 1, and the gist of the present invention is that, by the E face and the F face being disposed so as to be twisted round 90° with respect to the G face and the H face, the traveling waves are recirculated, without the provision of any recirculation path other than the generating portion for the traveling waves and the drive portion for the movable member.

The reference numeral 2 denotes an exciter which is fitted on the A face, the details of which are shown in plan view in FIG. 7. This exciter 2 comprises eight driving plate shaped piezoelectric elements 2a through 2h and a piezoelectric element 2i for detecting vibration.

The eight driving piezoelectric elements 2a through 2h, as shown in FIG. 7, are arranged in pairs of the same polarity, with neighboring pairs alternately having opposite polarity. In FIG. 7, the sign "+" means that the polarity of an element is in the direction perpendicular to the plane of the drawing paper and away from the observer, while the sign "-" means that the polarity of an element is likewise in the direction perpendicular to the plane of the drawing paper but towards the observer.

An electrode, not particularly shown in the figures, is provided on the surface of each of the eight driving piezoelectric elements 2a through 2h. Further, a high frequency voltage V1 is applied to the surface electrodes of the driving piezoelectric elements 2a, 2c, 2e, and 2g taken in common as a set, while another high frequency voltage V2 is applied to the surface electrodes of the remaining ones of the driving piezoelectric elements 2b, 2d, 2f, and 2h taken in common as a set. The high frequency voltage V2 has the same frequency as the high frequency voltage V1 and has a time phase difference of π/2 with respect to the high frequency voltage V1. The rear surfaces of the eight driving piezoelectric elements 2a through 2h are fixed to the A face of the rod shaped vibration block 1 so as to be electrically contacted thereto. Accordingly, the rod shaped vibration block 1 constitutes a common ground electrode for all of the eight driving piezoelectric elements 2a through 2 h.

The piezoelectric element 2i for detecting vibration converts the vibrations (the traveling waves) generated in the vibration block 1 into voltage. The phase difference of the amplitude of the voltage generated in the piezoelectric element 2i for detecting vibration is detected by a control means not shown in the figures, and this control means controls the voltages V1 and V2 applied to the eight driving piezoelectric elements 2a through 2h based upon the result of this voltage detection. Since the details of this type of control method are disclosed, for example, in Japanese laid-open Patent Application No. 61-251490 and U.S. Patent No. 4,510,411, they will not be more particularly described in this specification, in the interests of brevity of disclosure.

Returning to the description of FIG. 1, the reference numeral 3 denotes a movable member which is shown in detail in FIG. 8. The movable member 3 comprises pressure contact portions 3a and 3b which are respectively pressed against the B face and against the opposing D face of the rod shaped vibration block 1, and biasing elements 3c through 3f (of which 3e and 3f are not shown in FIG. 1 and 3d and 3f are not shown in FIG. 7 ) which are in tension and which therefore pull these pressure contact portions 3a and 3b towards one another and bias them together, thus pinching the rod shaped vibration block 1 between them.

Referring to FIG. 2, a support portion of the ultrasonic actuator shown in FIG. 1 will be explained in more detail. In FIG. 2, the reference numerals 4 and 5 are support members, each of which is formed to be slender rod-shaped and to have a circular cross section. The support members 4 and 5 are placed between two ends of the vibration block 1 and fixed portions 6 and 7, respectively. In more detail, one end of the support member 4 is fixed substantially to the center of a ridge which connects the face E and the face F, in other words the diagonal ac, and the other end of the supporting member 4 is fixed to the fixed portion 6. One end of the support member 5 is fixed substantially to the center of a ridge which connects the face G and the face H, and the other end of the supporting member 5 is fixed to the fixed portion 7. Each of the support members 4 and 5 is arranged so that its longitudinal direction coincides with the longitudinal direction (left and right direction in FIG. 2) of the vibration block 1.

The support members 4 and 5 are desirably made of material which is capable of elastic vibration, and, for example, are made of the same material as the one which forms the vibration block 1. The dimensions of the support members 4 and 5 may be decided according to the size of the vibration block 1 and the fixed portions 6 and 7. Furthermore, it is preferable that the dimensions of the supporting members 4 and 5 are determined so that a natural frequency of a wave vibrating in the direction perpendicular to the longitudinal direction of the supporting members 4 and 5 is equal to a natural frequency of a wave vibrating in the direction perpendicular to the longitudinal direction of the vibration block 1.

Any manner of fixing the supporting member 4 and 5 to the vibration block may be acceptable. For example, if both of the vibration block 1 and the support member 4 and 5 are made of a single material, these supporting member 4 and 5 and vibration block 1 may be formed integrally by lathing from a bulk of the material. Alternatively, it is acceptable that these supporting member 4 and 5 and the vibration block 1 are formed separately and then joining each other by welding, adhering or screwing. Furthermore, any manner of fixing the supporting member 4 and 5 to the fixed portion 6 and 7, for example, by welding, adhering or screwing may be acceptable.

The slender rod shaped support members 4 and 5 are hard to deform in the longitudinal direction of the support members 4 and 5, but are easy to deform in the direction perpendicular to the longitudinal direction. As mentioned later, when the vibration block 1 is excited by the exciter 2, the vibration block 1 vibrates and the traveling wave transmits along the vibration block 1 in its longitudinal direction. This traveling wave vibrates in the direction perpendicular to the longitudinal direction of the vibration block 1, in more detail in the direction perpendicular to the surfaces of the vibration block 1, but a total length of the vibration block 1 is constant in all times in spite of transmission of the traveling wave. Therefore, loss of vibration which is caused by supporting the vibration block 1 with the supporting member 4 and 5 can be reduced to a minimum, by arranging the support members 4 and 5, which are hard to deform in the longitudinal directions thereof but are easy to deform in the direction perpendicular to the longitudinal directions thereof, so that the longitudinal directions thereof coincide with the longitudinal direction of the vibration block 1.

Furthermore, because the other ends of the support members 4 and 5 opposite to the one end connected to the vibration block 1 are fixed to the fixed portions 6 and 7, amplitudes of vibrations generated in the support members 4 and 5 decrease gradually toward the other ends, and then come to a minimum (preferably zero amplitude) at the other ends which are fixed to the fixed portions 6 and 7. Therefore, the vibration generated in the vibration block 1 is not transmitted to the fixed portions 6 and 7. In other words, the support members 4 and 5 function as an absorber of vibrations.

In the following, the operation of the ultrasonic actuator of this first embodiment of the present invention will be described with reference to FIGS. 12A through 12D.

FIG. 12A is a figure substantially identical to FIG. 6, showing the construction of the exciter 2. The left portions of FIGS. 12B through 12D symbolically show (in vector form) the two sine wave voltage waveforms V1 and V2 which are being supplied to the piezoelectric elements 2a through 2h of the exciter 2, while the right portions of FIGS. 12B through 12D are corresponding waveform diagrams showing how the vibration block 1 bends at this time. The position along the horizontal axis in FIGS. 12B through 12D corresponds to the position in FIG. 12A along the exciter 2, i.e. to the various driving piezoelectric elements 2a through 2h. Further, in the left portions of FIGS. 12B through 12D, the projections onto the horizontal axis of the conceptual rotating voltage vectors V1 and V2 show the effective voltage values at various time points of these voltages, with positive electrical potential being shown by a projection which extends rightwards and negative electrical potential being shown by a projection which extends leftwards.

Referring to FIGS. 12B through 12D, in each of these figures the waveform portions η1 show whether or not, and in which direction, by the supply of the sine wave voltage V1 to the driving piezoelectric elements 2a, 2c, 2e, and 2g, the portions of the vibration block 1 to which these piezoelectric elements are fixed are excited and are bent; and, similarly, the waveform portions η2 show whether or not, and in which direction, by the supply of the sine wave voltage V2 to the other driving piezoelectric elements 2b, 2d, 2f, and 2h, the portions of the vibration block 1 to which these other piezoelectric elements are fixed are excited and are bent.

As shown in FIG. 12B, at the time point when the sine waves V1 and V2 at their phase positions as shown in vector form on the left side of the figure are applied to the driving piezoelectric elements 2a through 2h, the piezoelectric elements 2a, 2c, 2e, and 2g and the portions of the vibration block 1 to which these piezoelectric elements are fixed are bent as shown by the waveform portions η1; while on the other hand the other piezoelectric elements 2b, 2d, 2f, and 2h and the other portions of the vibration block 1 to which these other piezoelectric elements are fixed, as shown by the waveform portions η2, are not bent in either direction, but remain substantially undeformed in the plane state.

However, since the vibration block 1 is a continuous elastic body, at this time, viewed overall, it is not bent into a complicated wave shape by the combination of the waveform portions η1 and the waveform portions η2, but instead it is substantially bent into a combined wave shape which is close to a sine wave, as shown by the symbol η.

Further, as the sine wave voltages V1 and V2 change from their values as shown on the left side of FIG. 12B progressively over the passage of time via their values as shown on the left side of FIG. 12C to their values as shown on the left side of FIG. 12D while preserving their mutual phase difference of π/2, in tandem with this the bending state of the vibration block 1 also changes progressively from its condition as shown on the right side of FIG. 12B via its condition as shown on the right side of FIG. 12C to its condition as shown on the right side of FIG. 12D. Accordingly, a traveling wave is generated on the surface of the vibration block 1 as said surface is deformed from its overall wave shape η as shown on the right side of FIG. 12B via its overall wave shape η as shown on the right side of FIG. 12C to its overall wave shape η as shown on the right side of FIG. 12D, and this traveling wave is transmitted along the vibration block 1 in its longitudinal direction in the leftwards direction in the figure. Now, since the details of the generation of this type of traveling wave are disclosed, for example, in Japanese Patent laid-open Application 60-245482, they will not be more particularly described in this specification, in the interests of brevity of disclosure.

As for the types of the traveling waves which are generated, a surface wave is generated which is transmitted following along the surface of the vibration block 1, and also a bending wave is generated within the material of the vibration block 1 by the bending movement thereof. If the attenuation of the inner, deep portions of the vibration block 1 is small or the amplitude of the vibrations of the vibration block 1 by excitement of the exciter 2 is large, the bending wave becomes dominant. On the other hand, if the attenuation of the deep portions of the vibration block 1 is great or the amplitude of the vibrations of the vibration block 1 is small, the surface wave becomes dominant.

Next, referring to FIG. 4, the manner in which the bending waves traveling through the rod shaped vibration block 1 are recirculated within the vibration block 1 will be explained.

The bending wave in the vibration block 1 which is generated by the application of the high frequency voltages V1 and V2 to the exciter 2 provided on the A face of said vibration block 1 travels from the S end of the vibration block 1 towards its N end while vibrating the vibration block 1 in the direction perpendicular to its A face and to its C face, as shown at the lower right portion of FIG. 4. This bending wave is reflected from the E face and from the F face which are at this N end of the vibration block 1 and is rotated by 90° around its direction of propagation (its polarization is rotated), and then travels back towards the S end of the vibration block 1 while now vibrating the vibration block 1 in the direction perpendicular to its B face and to its D face, as shown at the left central portion of FIG. 4. And when this returning bending wave reaches the S end of the vibration block 1 it is similarly reflected from the G face and from the H face which are at this S end of the vibration block 1 and is again rotated by 90° around its direction of propagation (its polarization is again rotated), and travels back towards the N end of the vibration block 1 as before while again vibrating the vibration block 1 perpendicular to its A face and to its C face. In this manner, the bending wave is recirculated within the vibration block 1.

Moreover, since in this first embodiment the cross section of the vibration block 1 is square in shape, any neighboring two of the longitudinal faces of said vibration block 1 (for example the face A and the face B) are perpendicular. Accordingly, a bending wave which is vibrating in the direction perpendicular to the A face and to the C face (which are parallel), and a bending wave which is vibrating in the direction perpendicular to the B face and to the D face (which are also parallel), do not interfere with one another, even if for example their phases coincide, because their directions of vibration are mutually perpendicular and therefore they are mutually perpendicularly polarized.

Next, referring to FIG. 5, the manner in which the surface waves traveling along the surface of the rod shaped vibration block 1 are recirculated within the vibration block 1 will be explained.

The surface wave in the vibration block 1 which is generated by the application of the high frequency voltages V1 and V2 to the exciter 2 provided on the A face of said vibration block 1 travels along the A face in the direction from the S end of the vibration block 1 towards its N end while vibrating the vibration block 1 in the direction perpendicular to said A face, as shown at the first upper left figure of FIG. 5. When this surface wave reaches the E face at the N end of the vibration block 1, it crosses the edge between the A face and the E face, traverses the E face, is reflected from the edge between the E face and the F face, traverses the E face again, crosses the edge between the E face and the B face, and then travels back towards the S end of the vibration block 1 along its B face while now vibrating the vibration block 1 in the direction perpendicular to said B face. And when this returning surface wave reaches the S end of the vibration block 1, as shown in the second figure of FIG. 5, it similarly crosses the edge between the B face and the G face, traverses the G face, is reflected from the edge between the G face and the H face, traverses the G face again, crosses the edge between the G face and the C face, and then travels back towards the N end of the vibration block 1 along its C face while now vibrating the vibration block 1 in the direction perpendicular to said C face, as shown in the third figure of FIG. 5. And next, when this surface wave reaches the F face at the N end of the vibration block 1, as shown in the fourth figure of FIG. 5, it crosses the edge between the C face and the F face, traverses the F face, is reflected from the edge between the F face and the E face, traverses the F face again, crosses the edge between the F face and the D face, and then as shown in the fifth figure of FIG. 5 travels back towards the S end of the vibration block 1 along its D face while now vibrating the vibration block 1 in the direction perpendicular to said D face. Finally, when this returning surface wave reaches the S end of the vibration block 1, as shown in the sixth figure of FIG. 5, it crosses the edge between the D face and the H face, traverses the H face, is reflected from the edge between the H face and the G face, traverses the H face again, crosses the edge between the H face and the A face, and then travels back towards the N end of the vibration block 1 along its A face while now vibrating the vibration block 1 in the direction perpendicular to said A face, as shown in the seventh figure of FIG. 5. In this manner, the surface wave completes a cycle, and is recirculated within the vibration block 1.

FIG. 6 is a schematic figure showing the surface of the rod shaped vibration block 1 as unfolded. In this figure, the path of a surface wave traveling along said vibration block (as explained above) is shown by an endless dotted line and the path of a bending wave traveling through said vibration block (as also explained above ) is shown by an endless solid line. The important point to be understood from this FIG. 6 is that both the surface wave and the transverse wave proceed in the same direction as one another along each of the faces A through D which extend in the longitudinal direction of the vibration block 1, although the details of the manner in which these two waves are reflected from the N and the S ends of the vibration block 1 are different. In this way, it is ensured that the surface wave and the bending wave never destructively interfere with one another on any of the longitudinal faces A through D. Further, since the movable member 3 is kept in pressing contact with the B face and with the D face (in this first embodiment), and since the direction of the surface wave and the bending wave on the B face and the direction of the surface wave and the bending wave on the D face are the same (towards the S end of the vibration block 1 ), thereby the surface wave and the bending wave both serve for impelling the movable member 3 in the same direction on both of the faces of the vibration block 1 in contact with which said movable member 3 is kept.

By the above construction, the bending waves and the surface waves generated in the A face of the vibration block 1 by the exciting vibrations of the exciter 2 progress within the vibration block 1 along the A face and are then transmitted, in sequence, back along the D face or the B face respectively, forward again along the C face, and back again along the B face or the D face respectively, to return to progress again along the A face so as to be recirculated in endless paths. And, when progressing along the B face and also when progressing along the D face, both these types of wave drive the movable member 3 in the longitudinal direction of the vibration block 1 towards its S end.

The ultrasonic actuator of the present invention has been shown and described in terms of several embodiments thereof, but is not to be considered as being limited by any of the perhaps quite fortuitous details of said embodiments or of the drawings, since other variations are possible. As one example, although in the embodiments disclosed above an exciter was provided on at least one of the A face and the opposing C face, this is not to be considered as limitative of the present invention: it would be possible, as an alternative, for exciters to be provided on two neighboring faces, such as for example on the A face and on the B face, or on the C face and on the D face. Other variations are also possible. Accordingly the present invention is to be considered as being defined only by the terms of the appended claims, which follow. 

I claim:
 1. An ultrasonic actuator, comprising:a vibration body which is rod shaped and which has a first group of faces which comprises two opposing faces and a second group of faces which comprises two opposing faces which differ from said first group of faces, both said first group of faces and said second group of faces being extended along the longitudinal direction of said vibration body; a signal generator for generating an excitation signal; an exciter, connected to said signal generator, which is provided on at least one face of said first group of faces of said vibration body, the exciter generating traveling waves in said vibration body in response to said excitation signal which progress in said longitudinal direction of said vibration body; and a moveable member which is pressed against said vibration body and is moved by said traveling waves; wherein, at a first end portion of said vibration body, there is formed a first reflecting portion which reflects said traveling waves progressing in said longitudinal direction of said vibration body and transmits them to said second group of faces; and wherein at a second end portion of said vibration body, there is formed a second reflecting portion which reflects said traveling waves which were transmitted to said second group of faces and recirculates them to said first group of faces; and a support device which supports said vibration body and which is joined to at least one of said first and second end portions at which said first and second reflecting portions are formed.
 2. An ultrasonic actuator according to claim 1, wherein said support device comprises:at least one bendable member that is joined to at least one of said first and second end portions of said vibration body, displacement of said at least one bendable member in a direction along the longitudinal direction of said vibration body being limited, said at least one bendable member being capable of displacing in a direction perpendicular to the longitudinal direction of said vibration body; and at least one fixed member which supports said at least one bendable member.
 3. An ultrasonic actuator according to claim 2, wherein said at least one bendable member extends along the longitudinal direction of said vibration body.
 4. An ultrasonic actuator according to claim 1, wherein said support device is joined to the first and second end portions of said vibration body.
 5. An ultrasonic actuator, comprising:a vibration body which is rod shaped and which has a first group of faces comprising two opposing faces and a second group of faces comprising two opposing faces which differ from said first group of faces, both said first group of faces and said second group of faces being extended along the longitudinal direction of said vibration body; an exciter which is provided on at least one face of said first group of faces of said vibration body, and generates traveling waves which progress in said longitudinal direction of said vibration body; and a moveable member which is pressed against said vibration body and is moved by said traveling waves; wherein, at a first end portion of said vibration body, there is formed a first reflecting portion comprising two triangular faces, said first reflecting portion reflecting traveling waves progressing in said longitudinal direction of said vibration body from said first group of faces to said second group of faces; and wherein at a second end portion of said vibration body, there is formed a second reflecting portion comprising two triangular faces, said second reflecting portion reflecting traveling waves progressing in said longitudinal direction of said vibration body from said second group of faces to said first group of faces to recirculate traveling waves transmitted to said second group of faces back to said first group of faces; and wherein said first group of faces comprises an A face and a C face, said second group of faces comprises a B face and a D face, said first reflecting portion comprises an E face and an F face, and said second reflecting portion comprises a G face and an H face; wherein two sides of said E face are edges between said E face and said A face and said E face and said B face respectively, two sides of said F face are edges between said F face and said C face and said F face and said D face respectively, and the remaining side of said E face and the remaining said of said F face coincide; wherein two of the sides of the said H face are edges between said H face and said A face and said H face and said D face respectively, two of the sides of said G face are edges between said G face and said B face and said G face and said C face respectively, and the remaining side of said G face and the remaining side of said H face coincide; and a support device which supports said vibration body is joined to at least one of said first and second end portions at which said first and second reflecting portions are formed.
 6. An ultrasonic actuator according to claim 5, wherein said support device comprises:first and second bendable members, first ends of said first and second bendable members being joined respectively, to the first and second end portions of said vibration body; and at least one fixed member which supports second ends of said first and second bendable members; wherein said first ends of said first and second bendable members are joined to the end portions of the vibration body adjacent a ridge which connects said E face and said F face, and a ridge which connects said G face and said H face, respectively.
 7. An ultrasonic actuator, comprising:a vibration body which is rod shaped and which has a first group of opposing faces comprising an A face and a C face, and a second group of opposing faces comprising a B face and a D face, said second group of faces differing from said first group of faces, both said first group of faces and said second group of faces being extended along a longitudinal direction of said vibration body; an exciter provided on at least one face of said first group of faces of said vibration body, said exciter generating traveling waves in said vibration body that progress in said longitudinal direction of said vibration body; a moveable member which is pressed against said vibration body and is moved by said traveling waves; a first reflecting portion formed at a first end portion of said vibration body comprising an E face and an F face; a second reflecting portion formed at a second end portion of said vibration body comprising a G face and an H face; and a support device joined to at least one of said first and second end portions of said vibration body, said support device supporting said vibration body; wherein said E face reflects traveling waves progressing in said longitudinal direction of said A face onto said B face; wherein said F face reflects traveling waves progressing in said longitudinal direction of said C face onto said D face; wherein said G face reflects traveling waves progressing in said longitudinal direction of said B face onto said C face; and wherein said H face reflects traveling waves progressing in said longitudinal direction of said D face onto said A face.
 8. The ultrasonic actuator according to claim 5, wherein:said E face reflects traveling waves progressing in said longitudinal direction of said A face onto said B face; wherein said F face reflects traveling waves progressing in said longitudinal direction of said C face onto said D face; wherein said G face reflects traveling waves progressing in said longitudinal direction of said B face onto said C face; and wherein said H face reflects traveling waves progressing in said longitudinal direction of said D face onto said A face.
 9. The ultrasonic actuator according to claim 6, wherein said first and second bendable members extend in the longitudinal direction of the vibration body.
 10. The ultrasonic actuator according to claim 9, wherein said first and second bendable members are rod-shaped members.
 11. The ultrasonic actuator according to claim 6, wherein said at least one fixed member comprises first and second fixed members, said first and second fixed members supporting, respectively, second ends of said first and second bendable members.
 12. An ultrasonic actuator according to claim 5, wherein said support device comprises:at least one bendable member having a first end that is joined to at least one of said first and second end portions of said vibration body, displacement of said at least one bendable member in a direction along the longitudinal direction of said vibration body being limited, said at least one bendable member being capable of displacing in a direction perpendicular to the longitudinal direction of said vibration body; and at least one fixed member which supports a second end of said at least one bendable member.
 13. An ultrasonic actuator according to claim 12, wherein said at least one bendable member extends along the longitudinal direction of said vibration body.
 14. An ultrasonic actuator according to claim 13, wherein said at least one bendable member comprises a rod-shaped member.
 15. An ultrasonic actuator according to claim 2, wherein said at least one bendable member extends in a direction perpendicular to the longitudinal direction of said vibration body.
 16. An ultrasonic actuator according to claim 2, wherein said at least one bendable member comprises first and second bendable members, first ends of said first and second bendable members being joined, respectively, to said first and second end portions of said vibration body; andwherein said at least one fixed member supports second ends of said first and second bendable members.
 17. An ultrasonic actuator according to claim 16, wherein said at least one fixed member comprises first and second fixed members, and wherein the second ends of said first and second bendable members are supported, respectively, by said first and second fixed members.
 18. An ultrasonic actuator according to claim 16, wherein said first and second bendable members extend in the longitudinal direction of said vibration body.
 19. An ultrasonic actuator according to claim 16, wherein said first and second bendable members extend in a direction perpendicular to the longitudinal direction of said vibration body.
 20. An ultrasonic actuator according to claim 3, wherein said at least one bendable member is a rod-shaped member. 